dc.contributor.advisor |
Xu, Peter |
|
dc.contributor.advisor |
Cheng, Leo K. |
|
dc.contributor.advisor |
Stommel, Martin |
|
dc.contributor.author |
Hashem, Ryman |
|
dc.date.accessioned |
2021-03-10T02:23:07Z |
|
dc.date.available |
2021-03-10T02:23:07Z |
|
dc.date.issued |
2020 |
en |
dc.identifier.uri |
https://hdl.handle.net/2292/54623 |
|
dc.description.abstract |
A human stomach is an organ in the digestive system that breaks down foods
by physiological digestion, divided into mechanical and chemical digestion.
The mechanical digestion is controlled by peristaltic waves generated over the
stomach body. The physiological digestion of a stomach is essential to sustain
nutrition and health in humans. Replicating the digestion process in a robot
has been essential to provide a test environment as an alternative solution
to in-vivo testing, which is difficult in practice. Currently, stomach robots
are made of rigid rods and metal cylinders, unrealistic replicas of the human
stomach that cannot contract and expand like biological examples. Therefore,
a soft-bodied stomach robot can simulate peristaltic waves realistically and
perform in-vitro simulations and experiments.
Soft robotics is an emerging field that introduces promising engineering
methods that replicate biological behaviours. Soft robotics aims to obtain
a delicate interaction with their environment and be adaptable in different
situations. The invention of this field provides new ideas that differ from
the classic engineering strategies. With soft robotics technology, it is possible
to translate biological behaviour into an engineering context. Soft robotics
introduces potential methods to replicate peristaltic waves and achieve a
soft-bodied stomach simulator.
This work presents the concept, design, and experimental validation of a stomach
robot, modelled from abstracted medical images and constructed from
soft materials. An actuation concept is introduced to provide contractions
in the robot. The analysis of conventional actuation methods in soft robotics
is examined and evaluated with finite element analysis (FEA) software and
initial experiments on prototypes. The results lead to novel bellows-driven
soft pneumatic actuators (SPA) that provide high linear displacement. This
actuator is developed, modelled, and validated to be a suitable actuator for the
soft robotic stomach simulator (SoRSS) application. A ring-shaped actuator
constructed from multi-SPAs is introduced to convert the linear displacement
of SPAs to a contraction profile compared with a stomach segment. From that,
multi-rings actuators are formed in a stomach shape to provide a peristaltic
wave.
SoRSS provides peristaltic waves and antral contractions that are in excellent
agreement with the biological stomach. The robot undergoes experimental validation with the aid of videofluoroscopy, a medical device that is usually
used for recording esophagus and stomach physiology. The outcomes
present the internal contraction, peristaltic waves, and the digestion phases
during actuation. Those are compared with other medical studies to prove the
workability of SoRSS. This robot satisfies the specification of human stomach
geometry and motility. |
|
dc.publisher |
ResearchSpace@Auckland |
en |
dc.relation.ispartof |
PhD Thesis - University of Auckland |
en |
dc.relation.isreferencedby |
UoA |
en |
dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. |
en |
dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. |
|
dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
en |
dc.rights.uri |
http://creativecommons.org/licenses/by-nc-sa/3.0/nz/ |
|
dc.title |
A Biologically Inspired Soft-Bodied Bellows-Driven Stomach Robot: Concept, Design and Validation |
|
dc.type |
Thesis |
en |
thesis.degree.discipline |
Mechatronics Engineering |
|
thesis.degree.grantor |
The University of Auckland |
en |
thesis.degree.level |
Doctoral |
en |
thesis.degree.name |
PhD |
en |
dc.date.updated |
2021-03-04T03:52:05Z |
|
dc.rights.holder |
Copyright: The author |
en |
dc.rights.accessrights |
http://purl.org/eprint/accessRights/OpenAccess |
en |
dc.identifier.wikidata |
Q112952275 |
|